US6928742B2 - Method and apparatus for finding the position of a mechanical axis of a limb - Google Patents
Method and apparatus for finding the position of a mechanical axis of a limb Download PDFInfo
- Publication number
- US6928742B2 US6928742B2 US10/363,488 US36348803A US6928742B2 US 6928742 B2 US6928742 B2 US 6928742B2 US 36348803 A US36348803 A US 36348803A US 6928742 B2 US6928742 B2 US 6928742B2
- Authority
- US
- United States
- Prior art keywords
- point
- measurement
- limb
- rotation
- mechanical axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4504—Bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/15—Guides therefor
- A61B17/154—Guides therefor for preparing bone for knee prosthesis
- A61B17/155—Cutting femur
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6867—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive specially adapted to be attached or implanted in a specific body part
- A61B5/6878—Bone
Abstract
Description
- 1. metatarsal ray,
- 2. malleolar axis, tilted by 23°,
- 3. line perpendicular to the axis of rotation of the ankle joint, or
- 4. on the basis of the tuberosity.
{right arrow over (G)}=(X,Y,Z),
and by the local translation vector
{right arrow over (L)}=(u,v,w).
-
- the rotation of the local coordinate system within the global coordinate system, described in three-dimensional space by a rotation matrix R:
- the translation of the rotation point M in the global system, on which are centered the spherical surfaces associated with the rotational movement paths of the femur:
- the translation to the rotation point L in the local system:
- the rotation of the local coordinate system within the global coordinate system, described in three-dimensional space by a rotation matrix R:
{right arrow over (P G )}= R*({right arrow over (P)} L −{right arrow over (M L )})+{right arrow over (M G )} (6)
{right arrow over (X P )} =X P +v x =a 11(u P −u M)+a 12(v P −v M)+a 13(w P −w M)+X M +v x
{right arrow over (Y P )} =Y P +v y =a 21(u P −u M)+a 22(v P −v M)+a 23(w P −w M)+Y M +v y
{right arrow over (Z P )} =Z P +v Z =a 31(u P −u M)+a 32(v P −v M)+a 33(w P −w M)+Z M +v Z
S x =S 0 *√{square root over (Q ii )},
-
- where Qii represents the diagonal elements of a design matrix, and hence the standard deviation of a weighting unit is
where P is the weighting of the observation, n is the number of observations and u is the number of unknowns.
- where Qii represents the diagonal elements of a design matrix, and hence the standard deviation of a weighting unit is
- 1 Femur
- 2 Femoral head
- 3 Center of rotation
- 4 Hip joint
- 5 Mechanical axis
- 6 Tibia
- 7 Measurement device
- 7.1, 7.2 Camera
- 7.3 Evaluation device
- 7.4 Control device (progress control)
- 8, 8′, 9 Multi-point indicator
- 8A Clamping device
- 10 Cutting jig
- 10A Jig adapter
- 10B, 10C Electric motor
- 30 Spherical surface path
- 31 Center of the spheres
- 32 Measurement point
- 33 Local coordinate system
- 34 Global coordinate system
- 40 Measurement of point coordinates
- 41 Section text
- 43 Eliminate measurement-point-coordinate set
- 44 Expurgate measurement-point-coordinate set
- 45 Expurgated measurement-point-coordinate set
- 46 Carry out error-minimizing calculation with statistics
- 47 Check whether limiting value has been exceeded
- 48 Reject measurement-point-coordinate set with maximal improvement values
- 49 Store coordinates of the rotation center with statistics
- 50 Check the possibility of eliminating a maximal/minimal improvement value
- 51 Reject measurement-point-coordinate set
- 52 Statistical testing of stored coordinates
- 53 Display coordinates of the center of rotation
- 60 Sequence with respect to the femur
- 61 Tactile sampling in the knee
- 62 Tactile sampling of the epicondyles/Whiteside line, with error minimization
- 63 Calculation of a directional vector of locomotion
- 64 No precise result found
- 65 Precise result found
- 66 Identify position of hip-joint center
- 67 Start a necessary measurement
- 68 Carry out calculation for the center of rotation
- 69 Precise result found
- 70 No precise result found
- 71 Calculation of the alignment parameter of the intersection point
- 72 Repetition of the process if intersection point not aligned
- 73 Establish that cutting jig is aligned
- 74 Display of the femur
- 75 Display of the femur and the tibia
- 76 Quality management, control measurement, data collection for correction models etc.
Claims (20)
position P (n m) relative to P (n+i m)=position P (n m+j) relative to P (n+im+j).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/205,761 US7611520B2 (en) | 2000-08-31 | 2005-08-16 | Method and apparatus for finding the position of a mechanical axis of a limb |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10042965.3 | 2000-08-31 | ||
DE10042965 | 2000-08-31 | ||
PCT/EP2001/005663 WO2002017798A1 (en) | 2000-08-31 | 2001-05-17 | Method and device for determining a load axis of an extremity |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/205,761 Continuation US7611520B2 (en) | 2000-08-31 | 2005-08-16 | Method and apparatus for finding the position of a mechanical axis of a limb |
Publications (2)
Publication Number | Publication Date |
---|---|
US20040054442A1 US20040054442A1 (en) | 2004-03-18 |
US6928742B2 true US6928742B2 (en) | 2005-08-16 |
Family
ID=7654539
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/363,488 Expired - Lifetime US6928742B2 (en) | 2000-08-31 | 2001-05-17 | Method and apparatus for finding the position of a mechanical axis of a limb |
US11/205,761 Expired - Fee Related US7611520B2 (en) | 2000-08-31 | 2005-08-16 | Method and apparatus for finding the position of a mechanical axis of a limb |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/205,761 Expired - Fee Related US7611520B2 (en) | 2000-08-31 | 2005-08-16 | Method and apparatus for finding the position of a mechanical axis of a limb |
Country Status (9)
Country | Link |
---|---|
US (2) | US6928742B2 (en) |
EP (1) | EP1313400B1 (en) |
JP (1) | JP4726032B2 (en) |
CN (1) | CN1310622C (en) |
AT (1) | ATE311149T1 (en) |
AU (1) | AU2002237008A1 (en) |
DE (1) | DE50108254D1 (en) |
ES (1) | ES2254519T3 (en) |
WO (1) | WO2002017798A1 (en) |
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US20050149050A1 (en) * | 2002-05-21 | 2005-07-07 | Jan Stifter | Arrangement and method for the intra-operative determination of the position of a joint replacement implant |
US20050182320A1 (en) * | 2002-05-21 | 2005-08-18 | Jan Stifter | Arrangement for ascertaining function-determining geometric parameters of a joint of a vertebrate |
US20070049819A1 (en) * | 2003-09-22 | 2007-03-01 | Jan Stifter | Bone fixed locater and optical navigation system |
US20080183179A1 (en) * | 2004-05-22 | 2008-07-31 | Thomas Siebel | Surgical Jig |
US20100016705A1 (en) * | 2003-06-09 | 2010-01-21 | Orthalign, Inc | Surgical orientation system and method |
US20100281678A1 (en) * | 2001-05-25 | 2010-11-11 | Conformis, Inc. | Surgical Tools Facilitating Increased Accuracy, Speed and Simplicity in Performing Joint Arthroplasty |
US8057482B2 (en) | 2003-06-09 | 2011-11-15 | OrthAlign, Inc. | Surgical orientation device and method |
US8118815B2 (en) | 2009-07-24 | 2012-02-21 | OrthAlign, Inc. | Systems and methods for joint replacement |
US8337501B2 (en) | 2001-05-25 | 2012-12-25 | Conformis, Inc. | Patient selectable joint arthroplasty devices and surgical tools |
US8343218B2 (en) | 2001-05-25 | 2013-01-01 | Conformis, Inc. | Methods and compositions for articular repair |
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US8439926B2 (en) | 2001-05-25 | 2013-05-14 | Conformis, Inc. | Patient selectable joint arthroplasty devices and surgical tools |
US8500740B2 (en) | 2006-02-06 | 2013-08-06 | Conformis, Inc. | Patient-specific joint arthroplasty devices for ligament repair |
US8623026B2 (en) | 2006-02-06 | 2014-01-07 | Conformis, Inc. | Patient selectable joint arthroplasty devices and surgical tools incorporating anatomical relief |
US8808303B2 (en) | 2009-02-24 | 2014-08-19 | Microport Orthopedics Holdings Inc. | Orthopedic surgical guide |
US8911447B2 (en) | 2008-07-24 | 2014-12-16 | OrthAlign, Inc. | Systems and methods for joint replacement |
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US8951260B2 (en) | 2001-05-25 | 2015-02-10 | Conformis, Inc. | Surgical cutting guide |
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US20150238273A1 (en) * | 2007-12-06 | 2015-08-27 | Smith & Nephew, Inc. | Systems and methods for determining the mechanical axis of a femur |
US20150245922A1 (en) * | 2013-12-26 | 2015-09-03 | Somersault Orthopedics Inc. | Method for hip resection alignment approximation in hip replacement procedures |
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Also Published As
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CN1310622C (en) | 2007-04-18 |
DE50108254D1 (en) | 2006-01-05 |
EP1313400B1 (en) | 2005-11-30 |
CN1466439A (en) | 2004-01-07 |
US20040054442A1 (en) | 2004-03-18 |
ES2254519T3 (en) | 2006-06-16 |
AU2002237008A1 (en) | 2002-03-13 |
WO2002017798A1 (en) | 2002-03-07 |
EP1313400A1 (en) | 2003-05-28 |
ATE311149T1 (en) | 2005-12-15 |
JP2004507311A (en) | 2004-03-11 |
US20060089657A1 (en) | 2006-04-27 |
JP4726032B2 (en) | 2011-07-20 |
US7611520B2 (en) | 2009-11-03 |
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